yaak-ai/behavior1k-task0010

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description

- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "R1Pro",
"total_episodes": 200,
"total_frames": 1253243,
"total_tasks": 1,
"chunks_size": 10000,
"fps": 30,
"splits": {
"train": "0:10000"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"metainfo_path": "meta/episodes/task-{episode_chunk:04d}/episode_{episode_index:08d}.json",
"annotation_path": "annotations/task-{episode_chunk:04d}/episode_{episode_index:08d}.json",
"features": {
"observation.images.rgb.left_wrist": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.rgb.right_wrist": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.rgb.head": {
"dtype": "video",
"shape": [
720,
720,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 720,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.depth.left_wrist": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"depth"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p16le",
"video.is_depth_map": true,
"has_audio": false
}
},
"observation.images.depth.right_wrist": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"depth"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p16le",
"video.is_depth_map": true,
"has_audio": false
}
},
"observation.images.depth.head": {
"dtype": "video",
"shape": [
720,
720,
3
],
"names": [
"height",
"width",
"depth"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 720,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p16le",
"video.is_depth_map": true,
"has_audio": false
}
},
"observation.images.seg_instance_id.left_wrist": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.seg_instance_id.right_wrist": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.seg_instance_id.head": {
"dtype": "video",
"shape": [
720,
720,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 720,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
23
],
"names": null,
"fps": 30
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 30
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"observation.cam_rel_poses": {
"dtype": "float32",
"shape": [
21
],
"names": null,
"fps": 30
},
"observation.state": {
"dtype": "float32",
"shape": [
256
],
"names": null,
"fps": 30
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"total_videos": 1800
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```

许可证：Apache-2.0
任务类别：
- 机器人学
标签：
- LeRobot（LeRobot）
配置项：
- 配置名称：默认
数据文件：data/*/*.parquet

本数据集依托[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)工具链构建。

## 数据集描述
- **主页**：[需补充更多信息]
- **论文**：[需补充更多信息]
- **许可证**：Apache-2.0

## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v3.0",
"机器人类型": "R1Pro",
"总回合数": 200,
"总帧数": 1253243,
"总任务数": 1,
"分块大小": 10000,
"帧率": 30,
"数据集划分": {
"训练集": "0:10000"
},
"数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"元信息文件路径格式": "meta/episodes/task-{episode_chunk:04d}/episode_{episode_index:08d}.json",
"标注文件路径格式": "annotations/task-{episode_chunk:04d}/episode_{episode_index:08d}.json",
"数据特征": {
"观测图像.RGB.左腕相机": {
"数据类型": "视频",
"形状": [480, 480, 3],
"维度名称": ["高度", "宽度", "RGB通道"],
"详细信息": {
"视频帧率": 30.0,
"视频高度": 480,
"视频宽度": 480,
"视频通道数": 3,
"视频编码格式": "libx265",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测图像.RGB.右腕相机": {
"数据类型": "视频",
"形状": [480, 480, 3],
"维度名称": ["高度", "宽度", "RGB通道"],
"详细信息": {
"视频帧率": 30.0,
"视频高度": 480,
"视频宽度": 480,
"视频通道数": 3,
"视频编码格式": "libx265",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测图像.RGB.头部相机": {
"数据类型": "视频",
"形状": [720, 720, 3],
"维度名称": ["高度", "宽度", "RGB通道"],
"详细信息": {
"视频帧率": 30.0,
"视频高度": 720,
"视频宽度": 720,
"视频通道数": 3,
"视频编码格式": "libx265",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测图像.深度图.左腕相机": {
"数据类型": "视频",
"形状": [480, 480, 3],
"维度名称": ["高度", "宽度", "深度通道"],
"详细信息": {
"视频帧率": 30.0,
"视频高度": 480,
"视频宽度": 480,
"视频通道数": 3,
"视频编码格式": "libx265",
"视频像素格式": "yuv420p16le",
"是否为深度图": true,
"是否含音频": false
}
},
"观测图像.深度图.右腕相机": {
"数据类型": "视频",
"形状": [480, 480, 3],
"维度名称": ["高度", "宽度", "深度通道"],
"详细信息": {
"视频帧率": 30.0,
"视频高度": 480,
"视频宽度": 480,
"视频通道数": 3,
"视频编码格式": "libx265",
"视频像素格式": "yuv420p16le",
"是否为深度图": true,
"是否含音频": false
}
},
"观测图像.深度图.头部相机": {
"数据类型": "视频",
"形状": [720, 720, 3],
"维度名称": ["高度", "宽度", "深度通道"],
"详细信息": {
"视频帧率": 30.0,
"视频高度": 720,
"视频宽度": 720,
"视频通道数": 3,
"视频编码格式": "libx265",
"视频像素格式": "yuv420p16le",
"是否为深度图": true,
"是否含音频": false
}
},
"观测图像.实例分割ID.左腕相机": {
"数据类型": "视频",
"形状": [480, 480, 3],
"维度名称": ["高度", "宽度", "RGB通道"],
"详细信息": {
"视频帧率": 30.0,
"视频高度": 480,
"视频宽度": 480,
"视频通道数": 3,
"视频编码格式": "libx265",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测图像.实例分割ID.右腕相机": {
"数据类型": "视频",
"形状": [480, 480, 3],
"维度名称": ["高度", "宽度", "RGB通道"],
"详细信息": {
"视频帧率": 30.0,
"视频高度": 480,
"视频宽度": 480,
"视频通道数": 3,
"视频编码格式": "libx265",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测图像.实例分割ID.头部相机": {
"数据类型": "视频",
"形状": [720, 720, 3],
"维度名称": ["高度", "宽度", "RGB通道"],
"详细信息": {
"视频帧率": 30.0,
"视频高度": 720,
"视频宽度": 720,
"视频通道数": 3,
"视频编码格式": "libx265",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"动作": {
"数据类型": "float32",
"形状": [23],
"维度名称": null,
"帧率": 30
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"维度名称": null,
"帧率": 30
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
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"帧率": 30
},
"样本索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null,
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},
"观测.相机相对位姿": {
"数据类型": "float32",
"形状": [21],
"维度名称": null,
"帧率": 30
},
"观测.机器人状态": {
"数据类型": "float32",
"形状": [256],
"维度名称": null,
"帧率": 30
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null,
"帧率": 30
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null,
"帧率": 30
}
},
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 500,
"总视频数": 1800
}

## 引用
**BibTeX格式**：
bibtex
[需补充更多信息]